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Adaptive backstepping output feedback control of DC motor actuator with friction and load uncertainty compensation
Author(s) -
Ahmed Fayez Shakil,
Laghrouche Salah,
Harmouche Mohamed
Publication year - 2014
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3184
Subject(s) - control theory (sociology) , backstepping , robustness (evolution) , lyapunov function , actuator , nonlinear system , robust control , torque , adaptive control , friction torque , control engineering , engineering , compensation (psychology) , mechatronics , controller (irrigation) , computer science , control system , control (management) , physics , artificial intelligence , psychoanalysis , chemistry , biology , psychology , biochemistry , quantum mechanics , agronomy , thermodynamics , electrical engineering , gene
Summary In this paper, we present an output feedback backstepping controller for mechatronic actuators with dynamic adaptive parameters for friction and load compensation. The targeted application is angular position control of automotive mechatronic valves, which possess nonlinear dynamics due to friction. The proposed controller requires only position measurement. The velocity, current, and friction dynamics are obtained by estimation and observation. The adaptive control law compensates the variations in friction behavior and load torque variation, which are common in real life applications. Lyapunov analysis has been used to show the asymptotic convergence of the closed‐loop system to zero. Simulation and laboratory experimental results illustrate the effectiveness and robustness of the controller. Further experiments on an engine test bench demonstrate the applicability of this controller in commercial engines, as well as its effectiveness as compared with conventional PI controllers.Copyright © 2014 John Wiley & Sons, Ltd.